CN107797126A - BDS/GPS broadcast type network RTK algorithms based on Star Network - Google Patents
BDS/GPS broadcast type network RTK algorithms based on Star Network Download PDFInfo
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- CN107797126A CN107797126A CN201710880447.6A CN201710880447A CN107797126A CN 107797126 A CN107797126 A CN 107797126A CN 201710880447 A CN201710880447 A CN 201710880447A CN 107797126 A CN107797126 A CN 107797126A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
The invention discloses a kind of BDS/GPS broadcast type network RTK algorithms based on Star Network, all base stations are formed by the triangulation network using Delaunay Triangulation algorithm, generate the controllable region-wide Star Network being made up of several Star network members on this basis.Base station data are obtained in real time and carry out network element resolving, generate baseline atmosphere errors.Simultaneously, service end is broadcast main website observation, benchmark station coordinates and baseline atmosphere errors to user using Star Network as unit using udp protocol, user's network element according to where itself general location and main website position select it, and single poor atmosphere errors carry out interpolation between the station of baseline is formed to user and main website, obtained atmosphere errors amendment to main website observation is subjected to Baselines.User also can upload rough coordinates by both-way communication, the differential data of network element where broadcasting user by service end.Also support to carry out differential data broadcast using equipment such as ground installation, space shuttle or satellites simultaneously.
Description
Technical field
The present invention relates to a kind of BDS/GPS broadcast type network RTK algorithms based on Star Network, more particularly to one kind is based on
The broadcast mode of the BDS compatible with GPS of Star Network and network RTK (Real Time Kinematic, the reality of compatible both-way communication
When Kinematic Positioning Techniquess) realize technology, belong to GNSS real-time high-precision fast positionings field.
Background technology
Technology of network RTK has turned into one of current the most widely used GNSS precision positioning technologies, can use in real time
Family provides the multiple dimensioned positioning services such as meter level, decimeter grade, Centimeter Level[1-3].According to differential data broadcasting method, at present, main flow
Technology of network RTK can be divided into VRS (Virtual Reference Station, virtual reference station) technology, MAC (Master
Auxiliary Concept, major-minor station) technology and FKP (Flachen Korrektur Parameter, region correction parameter)
Technology[4]。
In VRS technologies, user uploads itself probability coordinate, CORS (Continuously Operating first
Reference System, CORS system) center resolve software (hereinafter referred to as center software) it is general according to user
Rate position generates a virtual reference station near user, and user forms ultra-short baseline with virtual reference station and resolved.This
The shortcomings that kind technology, is：1. needing both-way communication, add data delay and 2. (exceed when customer location changes greatly
5km), virtual reference standing-meeting changes, and user needs to reinitialize；3. center software is needed according to user's general location
Each user generates virtual reference station information, limits user capacity；4. due to having used virtual information, differential correcting information
It can not follow the trail of；5. although VRS technologies are not limited the quantity of reference station in network element in itself, current software is basic
It is upper to be realized based on the triangulation network, lack redundancy；6. atmosphere errors processing mode is only determined by center software so that user can not
Use more excellent algorithm[4]；7. needing upload user general location information, customer location is exposed, especially in some special necks
Domain, this method is even inadvisable, such as military field.
MAC technical supports single-direction and dual-direction communicates, and in both-way communication, user uploads itself general location information, center software
Select to broadcast differential correcting information to user as main reference station away from the nearest reference station of user according to customer location；In list
Into communication, user needs to know in advance the predefined network element residing for oneself, then obtains corresponding differential correcting information.This skill
Art in both-way communication, still suffer from it is 1. 2. identical in VRS technologies the shortcomings that；In one-way communication, although overcoming VRS technologies
The shortcomings that existing, but user needs to know the network element residing for oneself in advance in itself, this is realized relatively more tired for a user
Difficulty, especially when user enters strange region, as a consequence it is hardly possible to realize；The software using MAC technologies is carrying out network at present
Non- difference algorithm is used during resolving, parameter is more, and model is complicated so that network element resolving efficiency is low, and the netinit time is (from start
Serviced to network RTK can be provided) it is long.
In FKP technologies, center software realizes that network resolves using non-difference algorithm, and it is poor to extract non-mistake, and to space correlation
Error carries out region modeling, and the non-difference space correlated error of movement station is parameterized, broadcast using broadcast mode, rover station
Positioned in real time according to these parameters and self-position.The shortcomings that this technology, is：1. center software is entered using non-difference algorithm
Row network resolves, and parameter is more, and model is complicated so that settlement efficiency is low, netinit time length；2. spatially-correlated errors model
Foundation completed by center software, limit user and use the algorithm that more optimizes.
The content of the invention
Insufficient present in existing network RTK technologies to overcome, the present invention provides a kind of BDS/GPS based on Star Network
Broadcast type network RTK algorithms, and compatible both-way communication, and support by ground installation, space shuttle or satellite broadcasting differential correcting
Data.Service end outwards broadcasts the differential correcting data of whole all star-like network elements of net using udp protocol incessantly in real time, uses
The user of broadcast mode carries out network element selection, air interpolation and Baselines after receiving data.Using the user of both-way communication,
Itself general location, network element difference where service end broadcasts user to the user are uploaded by Ntrip agreements or ICP/IP protocol
Data are corrected, the user carries out air interpolation and Baselines after obtaining data.Service end is broadcasting difference to both-way communication user
When dividing correction, its data broadcast according to broadcast mode is still uninterruptedly broadcast.
The present invention uses following technical scheme to solve above-mentioned technical problem：
The present invention provides a kind of BDS/GPS broadcast type network RTK algorithms based on Star Network, including walks in detail below
Suddenly：
Step 1, benchmark station coordinates is obtained from database, Delaunay triangles is generated using Delaunay Triangulation algorithm
Net, the controllable region-wide Star Network being made up of several Star network members is generated on the basis of the triangulation network, wherein, each
Star-like network element is made up of a main website and some corresponding extension stations；
Step 2, base station data are obtained in real time, and double difference observation is formed by unit of the baseline in Delaunay triangulation network
Value, the first Kalman filter is built, baseline double difference fuzziness and Zenith tropospheric wet stack emission ZTD is estimated in real time, then generates
The baseline double difference atmosphere errors of every baseline；
Step 3, the baseline double difference atmosphere errors that step 2 generates are assigned to corresponding star-like network element baseline, with star-like network element
Unify reference star for unit, generate star-like every baseline of network element and regard single poor atmosphere errors between satellite station altogether；
Step 4, using star-like network element as unit, single poor atmosphere errors regarding satellite station altogether to every baseline of star-like network element,
All benchmark station coordinates and main website observation are encoded, and the data after coding are broadcasted using udp protocol or using two-way
Communication is broadcast, wherein, udp protocol enters step 5 after broadcasting all data；During using both-way communication, first by user
General location information is passed, then center software only broadcasts user by Ntrip agreements or TCP/IP according to customer location to user
The data of the star-like network element in place, into step 6；
Step 5, user's real-time reception data and judge network element where its, obtained according to the differential data interpolation of place network element
Single poor atmosphere errors between itself station between main website, and correct to main website observation, into step 7；
Step 6, user's real-time reception data, itself station between main website is obtained according to the differential data interpolation of place network element
Between single poor atmosphere errors, and correct to main website observation, into step 7；
Step 7, user utilizes forms double difference observation through step 5 or 6 revised main website observations with user's observation,
Second Kalman filter of the structure comprising user location parameter and fuzziness parameter, carries out Baselines.
As the further prioritization scheme of the present invention, the step 1 comprises the following steps：
Step 11, the triangulation network is generated using Delaunay Triangulation algorithm；
Step 12, the whole selvage circle base station of the triangulation network and non-border level station are extracted, wherein, if be connected with certain base station
Angle sum in all triangles using this base station as the interior angle on summit is more than given threshold, then the base station is non-border base
Quasi- station, is otherwise border level station；
Step 13, Star network member set is initialized：Using all non-border level stations as main website, all bases being attached thereto
Quasi- station is used as corresponding extension station；
Step 14, the base station set for having neither part nor lot in Star Network networking is found in border level station；
Step 15, the most base station of the base station number being attached thereto is chosen in the base station set for having neither part nor lot in networking to make
For new main website, the base station being attached thereto updates Star Network set and has neither part nor lot in Star Network group as corresponding extension station
The base station set of net；
Step 16, repeat step 15, until the base station number for having neither part nor lot in Star Network networking is 0.
As the further prioritization scheme of the present invention, comprise the following steps in the step 2：
Step 21, base station k receives the pseudorange and carrier observations signal of satellite s, then carrier wave and pseudorange observation equation table
It is shown as：
In formula：Represent the carrier observations in units of week on j-th of frequency of the satellite s that base station station k is received
Value, j=1,2,Represent base station k to satellite s station star away from,Represent j-th of frequency of the satellite s that base station k is received
Integer ambiguity on point, c represent the light velocity, dTkRepresent base station k receiver clock-offsets, dTsThe satellite clock correction of satellite s is represented,The tropospheric delay for the satellite s that base station k is received is represented,Represent on the 1st frequency of satellite s that base station k is received
Ionosphere delay,fjRepresent the frequency values on j-th of frequency of satellite system, f corresponding to satellite s1Represent satellite s
Frequency values on the 1st frequency of corresponding satellite system, relsThe relativistic effect of satellite s is represented,Represent base station k
Carrier wave multipath effect on j-th of frequency of the satellite s received in units of rice,Represent base station j-th of frequency of k
On receiver end carrier deviation in units of rice,Represent the satellite end carrier wave on j-th of frequency in units of rice in satellite s
Deviation,The carrier observations noise in units of rice on j-th of frequency of satellite s that base station k is received is represented,Represent base
Pseudo-range Observations on j-th of frequency of the satellite s that quasi- station k is received in units of rice,Represent that base station k is received
Satellite j-th of frequency on pseudorange multipath effect in units of rice,Represent what base station j-th of frequency of k received
Receiver end pseudorange biases in units of rice,Represent that pseudorange of the satellite end in units of rice is inclined on j-th of frequency of satellite s
Difference,Represent the pseudorange observation noise in units of rice, λ on j-th of frequency of the satellite s that base station k is receivedjExpression is defended
The wavelength of j-th of frequency of satellite system corresponding to star s；
Step 22, double difference observation is formed according to the carrier observations that step 21 obtains and Pseudo-range Observations, then base station k
Double difference carrier observations equation with base station y groups is respectively with double difference pseudorange observation equation：
In formula, subscript r represents reference satellite,The double difference carrier observations of j-th of frequency are represented,Represent
Double difference station star away from,The double difference integer ambiguity on j-th of frequency is represented,Double difference tropospheric delay is represented,
Double difference ionosphere delay on first frequency is represented,Represent that the double difference carrier wave on j-th of frequency in units of rice is more
Path effects,The double difference carrier observations noise in units of rice on j-th of frequency is represented,Represent j-th of frequency
Double difference Pseudo-range Observations on point,The double difference pseudorange multipath effect on j-th of frequency is represented,Represent
Double difference pseudorange observation noise on j-th of frequency；
Step 23, the double difference observation formed according to step 22 is combined into the wide lane combination observation of double difference, resolves wide lane group
Close fuzziness：
Wide lane combinational fuzzy degree is resolved using MW combinations, then resolving equation is：
In formula： The wide lane combination observation of double difference is represented,Represent wide lane combinational fuzzy degree, λWLRepresent wide lane wavelength；
Use smooth round of more epoch to wide lane combinational fuzzy degree, specific formula is as follows：
In formula：The wide lane combinational fuzzy degree float-solution that i-th of epoch of observation resolve to obtain is represented, z is represented
Epoch of observation sum, round represent round operator；
Step 24, using without ionospheric combination, narrow lane wave filter is built, combines wide lane combination point using without ionospheric combination
Separate out basic fuzzinessWithComprise the following steps：
Step 241, double difference is formed without ionospheric combination observation：
In formula：Double difference is represented without ionospheric combination observation,Indicate that no ionospheric combination obscures
Degree, λNL=c/ (f1+f2)；
Step 242, the first Kalman filter is built：
In formula, E () represents to seek mathematic expectaion, and Cov () represents to seek covariance,Represent respectively the i-th epoch and
The state vector of i-th -1 epoch；Represent state-transition matrix；Dynamic noise vector is represented,Represent dynamic noise association
Variance matrix；The i-th epoch observation vector is represented,Represent design matrix,Represent the i-th epoch observation noise vector；Represent
For the i-th epoch observation noise covariance matrix,The i-th epoch state vector covariance battle array is represented,Represent state vector prediction
Covariance matrix,The i-th epoch state vector variance-covariance battle array is represented,Represent gain matrix,Represent unit matrix；
It was located at for the i-th epoch, base station k and base station y has n GPS to regard satellite altogether with g BDS regarding satellite altogether, wherein, n-th
Gps satellite and the reference star that the g BDS satellite is each system, it is relative with baseline that parameter to be estimated includes double difference integer ambiguity
Zenith tropospheric wet stack emission, its Filtering Model parameter vector to be estimated, observation vector and design matrix are expressed as：
Wherein：
In formula：The state vector (parameter vector to be estimated) of n+g-1 dimensions is represented, is prolonged comprising 1 with respect to Zenith tropospheric is wet
Slow parameter RZTD and n+g-2 dimensions double difference integer ambiguity parameter vectorRepresent the double difference carrier observations of n+g-2 dimensions
Vector,Expression GPS double difference carrier observations, o=1,2 ..., n-1,The narrow lane wavelength of GPS is represented,Represent GPS
The wavelength of 1st frequency,GPS double differences are represented without ionospheric combination carrier observations,Represent GPS double differences
Stand star away from,Gps satellite double difference tropospheric hydrostatic delay is represented,The wide lane integer ambiguity of GPS double differences is represented,
f1 GRepresent the frequency values of the 1st frequency of GPS, f2 GThe frequency values of the 2nd frequency of GPS are represented,Represent BDS double difference carrier waves
Observation, s=1,2 ..., g-1,Represent the narrow lane wavelength of BDS, λ1 CThe wavelength of first frequency of BDS is represented,Represent
BDS double differences without ionospheric combination carrier observations,Represent BDS double differences station star away from,Represent that BDS satellites are double
Poor tropospheric hydrostatic delay,Represent the wide lane integer ambiguity of BDS double differences, f1 CThe frequency values of the 1st frequency of BDS are represented,
f2 CThe frequency values of the 2nd frequency of BDS are represented,The troposphere mapping function of GPS system satellite o on base station k is represented,The troposphere mapping function of GPS system reference satellite n on base station y is represented,Represent BDS systems on base station k
The troposphere mapping function of satellite s,The troposphere mapping function of BDS system reference satellites g on base station y is represented,Table
Show the design matrix of (n+g-2) × (n+g-1) dimensions；
Step 243, the first Kalman filter established according to step 242 is filtered, and is resolved underlying carrier and obscured
Spend vector parameter；
Fuzziness parameter vector float-solution is extracted from wave filterLambda algorithms are utilized with variance-covariance battle array
Scan for, obtain the 1st frequency double difference integer ambiguityWithFurther obtain
The double difference integer ambiguity of 2nd frequencyWith
Step 25, according to the result of step 24, baseline double difference atmosphere errors are generated：
In formula,WithGPS and BDS double difference tropospheric delays are represented respectively,With
GPS and first frequency double difference carrier observations of BDS are represented respectively,WithGPS and BDS second is represented respectively
Individual frequency double difference carrier observations,WithGPS and the 1st frequency double difference ionosphere delay of BDS are represented respectively.
As the further prioritization scheme of the present invention, comprise the following steps in the step 3：
Step 31, the main website of star-like network element and extension station composition baseline, find by identical in the whole net baseline list of the triangulation network
Base station composition baseline, if two base directions on the contrary, if need carry out baseline commutation, be derived from each bar baseline of star-like network element
Double difference atmosphere errors；
Step 32, check whether each bar baseline reference star of star-like network element is consistent, if inconsistent, unify reference star and to big
Gas error carries out reference star conversion；
Step 33, single poor atmosphere errors between star-like network element station are generated：Single poor atmosphere errors are regarded between reference star station as 0, then its
Single poor atmosphere errors value is equal to double difference atmosphere errors between the station of his satellite；
Step 34, the satellite that each bar baseline of star-like network element can regard altogether is extracted, star-like network element is generated and regards list between satellite station altogether
Poor atmosphere errors.
As the further prioritization scheme of the present invention, method of network element is where the step 5 judges it：User is to receiving
To data decoded and calculate user to the air line distance of each main website, made with the network element representated by the minimum main website of distance
The network element where user.
As the further prioritization scheme of the present invention, obtained in the step 5 or 6 according to the differential data interpolation of place network element
To single poor atmosphere errors between itself station between main website, and correct to main website observation, comprise the following steps：
1., using linear insert method step carries out user's atmosphere errors interpolation, then single poor air between user and main website station
Error calculation is as follows：
In formula, subscript m represents main website, and u represents user, α1,α2,α3Represent troposphere interpolation coefficient, β1,β2Represent ionosphere
Interpolation coefficient, w represent extension station number,Single poor tropospheric delay, Δ x between the station of expression satellite sm,u,Δym,u,Δhm,uPoint
Not Biao Shi main website and user coordinate difference,Represent single poor ionosphere delay between standing；
Troposphere interpolation coefficient and ionosphere interpolation coefficient computational methods are as follows：
In formula：Δxm,t,Δym,t,Δhm,tRepresent main website and extension station coordinate difference, t=1,2 ..., w；
2., by the atmosphere errors value amendment that interpolation obtains to main website observation, pseudorange and carrier observations are respectively such as step
Under：
In formula：Represent to have modified pseudorange and load of j-th of the frequency of satellite s after atmosphere errors in main website respectively
Ripple observation,Raw pseudo range and carrier observations of j-th of the frequency of satellite s in main website are represented respectively,Table
Show tropospheric delay between the station of the satellite s obtained by interpolation,Ionosphere between the station for the satellite s that expression is obtained by interpolation
Delay.
As the further prioritization scheme of the present invention, double difference observation is expressed as in the step 7：
In formula,Gps satellite double difference Pseudo-range Observations are represented,Represent gps satellite double difference station star away from,
Gps satellite double difference pseudorange multipath effect is represented,Represent gps satellite double difference pseudorange observation
Noise,Represent gps satellite double difference carrier observations, λGRepresent that GPS observations correspond to the wavelength of frequency,Table
Show gps satellite double difference integer ambiguity,The gps satellite double difference carrier wave multipath effect in units of week is represented,The gps satellite double difference carrier observations noise in units of week is represented,Represent BDS satellite double difference pseudorange observations
Value,Represent BDS satellite double differences station star away from,BDS satellite double difference pseudorange multipath effects are represented,
BDS satellite double difference pseudorange observation noises are represented,Represent BDS satellite double difference carrier observations, λCRepresent BDS observations pair
The wavelength of frequency is answered,BDS satellite double difference integer ambiguities are represented,Represent that the BDS in units of week is defended
Star double difference carrier wave multipath effect,Represent the BDS satellite double difference carrier observations noises in units of week.
As the further prioritization scheme of the present invention, second Kalman filter structure is as follows in step 7：
It was located at for the i-th epoch, user has n GPS to regard satellite altogether regarding satellite and g BDS altogether with Star network, wherein n-th GPS
Satellite and the g BDS satellite are respectively the reference star of each system, combine all satellite L1 carrier waves and P1 pseudorange observation data, its
Filtering Model parameter matrix to be estimatedObservation matrixAnd design matrixIt is expressed as：
Wherein,
In formula,The parameter vector to be estimated of n+g+1 dimensions is represented, includes 3-dimensional location parameter vectorIt is whole with n+g-2 dimension double differences
All fuzziness parameter vectorsRepresent 2 (n+g-2) dimension double difference observation vectors, including pseudorange and carrier observations；Table
Show that 2 (n+g-2) × (n+g+1) ties up design matrix, wherein lo,n,G,po,n,G,qo,n,GRepresent gps satellite direction cosines (subscript o=
1,2 ..., n-1), ls,g,C,ps,g,C,qs,g,C(subscript s=1,2 ..., t-1) represents BDS satellite direction cosine,Represent with
Rice is the gps satellite double difference carrier observations of unit,Gps satellite double difference Pseudo-range Observations are represented,Represent
Gps satellite double difference station star away from,Represent BDS satellite double differences station star away from,Represent the BDS satellites in units of rice
Double difference carrier observations,Represent BDS satellite double difference Pseudo-range Observations；
By above-mentioned parameter assignment and bring into the second Kalman filter by epoch resolve, then extract float ambiguities to
Amount and its variance-covariance battle array, fuzziness fixed solution can be obtained using lambda algorithm search；
After fixed fuzziness, user's three-dimensional coordinate fixed solution is solved using following formula：
Wherein,Respectively three-dimensional coordinate parameter vector and float ambiguities parameter vector,For fixed fuzziness
Coordinate parameters vector afterwards,To fix fuzziness parameter vector,Each parametric filtering is corresponded to respectively
Solve covariance matrix.
The present invention compared with prior art, has following technique effect using above technical scheme：
(1) present invention employs Star Network to carry out air interpolation, can provide redundancy observation；
(2) present invention is truly realized broadcast mode network RTK, and takes into account both-way communication, and user capacity is unrestricted；
(3) broadcast mode of the present invention, differential data can both be broadcast by ground installation, can also pass through aviation
Aircraft or satellite are broadcast, and are broadcast available for GPS wide area differential GPS and satellite-based enhancing data.
Brief description of the drawings
Fig. 1 is a kind of BDS/GPS broadcast type network RTK algorithm flow charts based on Star Network of the present invention.
Fig. 2 is star-like network element generating algorithm flow chart.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The present invention designs a kind of BDS/GPS broadcast type network RTK algorithms based on Star Network, as shown in figure 1, including with
Lower step：
Step 1, benchmark station coordinates is obtained from database, Delaunay triangles is generated using Delaunay Triangulation algorithm
Net, the controllable region-wide Star Network being made up of several Star network members is generated on the basis of the triangulation network, wherein, each
Star-like network element is made up of a main website and some corresponding extension stations.
The step 1 comprises the following steps：
Step 11, the triangulation network is generated using Delaunay Triangulation algorithm, wherein, triangle maximum angle threshold value is
165 ° (threshold value is set according to personal experience)；
Step 12, the whole selvage circle base station of the triangulation network and non-border level station are extracted, wherein, if be connected with certain base station
Angle sum in all triangles using this base station as the interior angle on summit is more than 195 ° of given threshold, then the base station is non-side
Boundary's base station, it is otherwise border level station；
Step 13, Star network member set is initialized：Using all non-border level stations as main website, all bases being attached thereto
Quasi- station is used as corresponding extension station；
Step 14, found in border level station and have neither part nor lot in the base station set of Star Network networking (neither main website, again
It is not connected with any main website)；
Step 15, the most base station of the base station number being attached thereto is chosen in the base station set for having neither part nor lot in networking to make
For new main website, the base station being attached thereto updates Star Network set and has neither part nor lot in Star Network group as corresponding extension station
The base station set of net；
Step 16, repeat step 15, until the base station number for having neither part nor lot in Star Network networking is 0, as shown in Figure 2.
Step 2, base station data are obtained in real time, and double difference observation is formed by unit of the baseline in Delaunay triangulation network
Value, the first Kalman filter is built, baseline double difference fuzziness and Zenith tropospheric wet stack emission ZTD is estimated in real time, then generates
The baseline double difference atmosphere errors of every baseline.
Comprise the following steps in step 2：
Step 21, base station k receives the pseudorange and carrier observations signal of satellite s, then carrier wave and pseudorange observation equation table
It is shown as：
In formula：Represent the carrier observations in units of week on j-th of frequency of the satellite s that base station station k is received
Value, j=1,2,Represent base station k to satellite s station star away from,Represent j-th of frequency of the satellite s that base station k is received
On integer ambiguity, c represent the light velocity, dTkRepresent base station k receiver clock-offsets, dTsThe satellite clock correction of satellite s is represented,
The tropospheric delay for the satellite s that base station k is received is represented,Represent electricity on the 1st frequency of satellite s that base station k is received
Absciss layer postpones,fjRepresent the frequency values on j-th of frequency of satellite system, f corresponding to satellite s1Represent satellite s pair
Frequency values on the 1st frequency of the satellite system answered, relsThe relativistic effect of satellite s is represented,Represent that base station k connects
Carrier wave multipath effect on j-th of frequency of the satellite s received in units of rice,Represent on base station j-th of frequency of k
Receiver end carrier deviation in units of rice,Represent that the satellite end carrier wave in satellite s on j-th of frequency in units of rice is inclined
Difference,The carrier observations noise in units of rice on j-th of frequency of satellite s that base station k is received is represented,Represent benchmark
Pseudo-range Observations on j-th of frequency of the satellite s that the k that stands is received in units of rice,Represent what base station k was received
Pseudorange multipath effect on j-th of frequency of satellite in units of rice,Represent base station j-th of frequency of k receive with
Rice is the receiver end pseudorange biases of unit,Pseudorange biases of the satellite end in units of rice on j-th of frequency of satellite s are represented,Represent the pseudorange observation noise in units of rice, λ on j-th of frequency of the satellite s that base station k is receivedjRepresent satellite s
The wavelength of corresponding j-th of frequency of satellite system.
Step 22, double difference observation is formed according to the carrier observations that step 21 obtains and Pseudo-range Observations, then base station k
Double difference carrier observations equation with base station y groups is respectively with double difference pseudorange observation equation：
In formula, subscript r represents reference satellite,The double difference carrier observations of j-th of frequency are represented,Represent
Double difference station star away from,The double difference integer ambiguity on j-th of frequency is represented,Double difference tropospheric delay is represented,Double difference ionosphere delay on first frequency is represented,Represent that the double difference on j-th of frequency in units of rice carries
Ripple multipath effect,The double difference carrier observations noise in units of rice on j-th of frequency is represented,Represent jth
Double difference Pseudo-range Observations on individual frequency,The double difference pseudorange multipath effect on j-th of frequency is represented,
Represent the double difference pseudorange observation noise on j-th of frequency.
Step 23, the double difference observation formed according to step 22 is combined into the wide lane combination observation of double difference, resolves wide lane group
Close fuzziness.
Wide lane combinational fuzzy degree is resolved using MW combinations, then resolving equation is：
In formula： The wide lane combination observation of double difference is represented,Represent wide lane combinational fuzzy degree, λWLRepresent wide lane wavelength.
Because resolving wide lane ambiguity using MW combinations, only by carrier wave and pseudorange observation influence of noise (ignoring multipath), and
Observation noise obeys white Gaussian noise distribution, therefore can use smooth round of more epoch to wide lane combinational fuzzy degree,
Specific formula is as follows：
In formula：The wide lane combinational fuzzy degree float-solution that i-th of epoch of observation resolve to obtain is represented, z is represented
Epoch of observation sum, round represent round operator.
Step 24, using without ionospheric combination, narrow lane wave filter is built, combines wide lane combination point using without ionospheric combination
Separate out basic fuzzinessWithComprise the following steps：
Step 241, double difference is formed without ionospheric combination observation：
In formula：Double difference is represented without ionospheric combination observation,Indicate that no ionospheric combination obscures
Degree, this fuzziness do not have integer characteristic, and this combines the influence for eliminating ionosphere delay single order item, λNL=c/ (f1+f2)。
Step 242, the first Kalman filter is built：
In formula, E () represents to seek mathematic expectaion, and Cov () represents to seek covariance,Represent respectively the i-th epoch and
The state vector of i-th -1 epoch；Represent state-transition matrix；Dynamic noise vector is represented,Represent dynamic noise association
Variance matrix；The i-th epoch observation vector is represented,Represent design matrix,Represent the i-th epoch observation noise vector；Represent
For the i-th epoch observation noise covariance matrix,The i-th epoch state vector covariance battle array is represented,Represent state vector prediction
Covariance matrix,The i-th epoch state vector variance-covariance battle array is represented,Represent gain matrix,Represent unit matrix.
It was located at for the i-th epoch, base station k and base station y has n GPS to regard satellite altogether with g BDS regarding satellite altogether, wherein, n-th
Gps satellite and the reference star that the g BDS satellite is each system, it is relative with baseline that parameter to be estimated includes double difference integer ambiguity
Zenith tropospheric wet stack emission, its Filtering Model parameter vector to be estimated, observation vector and design matrix are expressed as：
Wherein：
In formula：The state vector (parameter vector to be estimated) of n+g-1 dimensions is represented, is prolonged comprising 1 with respect to Zenith tropospheric is wet
Slow parameter RZTD and n+g-2 dimensions double difference integer ambiguity parameter vectorRepresent the double difference carrier observations of n+g-2 dimensions
Vector,Expression GPS double difference carrier observations, o=1,2 ..., n-1,Represent the narrow lane wavelength of GPS, λ1 GRepresent GPS
The wavelength of 1st frequency,GPS double differences are represented without ionospheric combination carrier observations,Represent GPS double differences
Stand star away from,Gps satellite double difference tropospheric hydrostatic delay is represented,The wide lane integer ambiguity of GPS double differences is represented,
f1 GRepresent the frequency values of the 1st frequency of GPS, f2 GThe frequency values of the 2nd frequency of GPS are represented,Represent BDS double difference carrier waves
Observation, s=1,2 ..., g-1,Represent the narrow lane wavelength of BDS, λ1 CThe wavelength of first frequency of BDS is represented,Represent
BDS double differences without ionospheric combination carrier observations,Represent BDS double differences station star away from,Represent that BDS satellites are double
Poor tropospheric hydrostatic delay,Represent the wide lane integer ambiguity of BDS double differences, f1 CThe frequency values of the 1st frequency of BDS are represented,
f2 CThe frequency values of the 2nd frequency of BDS are represented,The troposphere mapping function of GPS system satellite o on base station k is represented,The troposphere mapping function of GPS system reference satellite n on base station y is represented,Represent BDS systems on base station k
The troposphere mapping function of satellite s,The troposphere mapping function of BDS system reference satellites g on base station y is represented,Table
Show the design matrix of (n+g-2) × (n+g-1) dimensions.
Step 243, the first Kalman filter established according to step 242 is filtered, and is resolved underlying carrier and obscured
Spend vector parameter.
Fuzziness parameter vector float-solution is extracted from wave filterLambda algorithms are utilized with variance-covariance battle array
Scan for, fuzziness parameter vector fixed solution can be obtained(fuzziness obtained herein is the complete cycle on first frequency
Fuzziness).
For observation noise, different height cornerdown star uses determines power mode based on elevation of satellite, and Zenith tropospheric is wet
Delay uses random walk, and receiver observation noise obeys white Gaussian noise distribution, invariant parameter when fuzziness is defined as.
Obtain the 1st frequency double difference integer ambiguity(BDS) with(GPS) after, it can obtain the
The double difference integer ambiguity of 2 frequenciesWith
Step 25, according to the result of step 24, baseline double difference atmosphere errors are generated：
In formula,WithGPS and BDS double difference tropospheric delays are represented respectively,With
GPS and first frequency double difference carrier observations of BDS are represented respectively,WithGPS and BDS second is represented respectively
Individual frequency double difference carrier observations,WithGPS and the 1st frequency double difference ionosphere delay of BDS are represented respectively.
Step 3, the baseline atmosphere errors of generation are assigned to corresponding Star Network baseline, carry out base direction change if necessary
Change.Reference star is unified as unit using Star Network and carries out reference star conversion, it is single poor big between satellite station altogether to generate star-like network element
Gas error.
In the step 3, single poor atmosphere errors comprise the following steps between generating Star Network station：
Step 41, baseline is formed with Star Network main website and extension station, found in whole net baseline list by same datum station
The baseline of composition, if two base directions on the contrary, if need carry out baseline commutation.Each bar baseline air of Star Network is derived to miss
Difference.
Step 42, check whether each bar baseline reference star of star-like network element is consistent, if inconsistent, select unified reference star simultaneously
Reference star conversion is carried out to atmosphere errors.
Step 43, single poor atmosphere errors between star-like network element station are generated.Single poor atmosphere errors are regarded between reference star station as 0, then its
Single poor atmosphere errors value is equal to double difference atmosphere errors between the station of his satellite.
Step 44, the satellite that all baselines of star-like network element regard altogether is extracted, it is single poor between satellite station altogether to generate star-like network element
Atmosphere errors.
Step 4, using star-like network element as unit, single poor atmosphere errors regarding satellite station altogether to every baseline of star-like network element,
All benchmark station coordinates and main website observation are encoded, and are broadcasted using udp protocol that (broadcast mode can be set by ground
The equipment such as standby, space shuttle or satellite is broadcast) or using both-way communication (by user upload general location information, according to
The data of star-like network element where user is only broadcast in family position by Ntrip agreements or TCP/IP to user).
When user uses both-way communication, the differential data of network element, broadcasts in a broadcast mode where only broadcasting it to the user
The data of hair are still outwards broadcast incessantly.
Issued with October 19th, 2015, what on November 1st, 2015 came into effect《The Big Dipper/GPS
(GNSS) receiver differential data form (two)》Data encoding, including following text are carried out for standard：
| Text number | Text effect description | Remarks |
| 1124 | BDS MSM4 observations | |
| 1050 | It is single poor between the corrected value station of BDS ionospheres | |
| 1051 | It is single poor between BDS Geometric correction values station | Heretofore described tropospheric delay |
| 1074 | GPS MSM4 observations | |
| 1015 | It is single poor between the corrected value station of GPS ionospheres | |
| 1016 | It is single poor between GPS Geometric correction values station | Heretofore described tropospheric delay |
| 1006 | Main website ECEF coordinate informations | |
| 1033 | Main website receiver and aerial information explanation | |
| 1014 | Extension station coordinate information | Extension station and main website geodetic coordinates are poor |
| 1013 | The state and frequency information that text is broadcast |
Step 5, user's real-time reception data and judge network element where its, obtained according to the differential data interpolation of place network element
Single poor atmosphere errors between itself station between main website, and correct to main website observation, into step 7.Wherein, when user is to receiving
To data decode and calculate rover station to the air line distance of each main website, the network element representated by the main website minimum using distance as
Network element where rover station.
Step 6, user's real-time reception data, itself station between main website is obtained according to the differential data interpolation of place network element
Between single poor atmosphere errors, and correct to main website observation, into step 7.
In step 5 or 6, single poor air misses between obtaining itself station between main website according to the differential data interpolation of place network element
Difference, and correct to main website observation, comprise the following steps：
1., using linear insert method step carries out user's atmosphere errors interpolation, then single poor air between user and main website station
Error calculation is as follows：
In formula, subscript m represents main website, and u represents user, α1,α2,α3Represent troposphere interpolation coefficient, β1,β2Represent ionosphere
Interpolation coefficient, w represent extension station number,Single poor tropospheric delay, Δ x between the station of expression satellite sm,u,Δym,u,Δhm,uPoint
Not Biao Shi main website and user coordinate difference,Represent single poor ionosphere delay between standing；
Troposphere interpolation coefficient and ionosphere interpolation coefficient computational methods are as follows：
In formula：Δxm,t,Δym,t,Δhm,tRepresent main website and extension station coordinate difference, t=1,2 ..., w；
2., by the atmosphere errors value amendment that interpolation obtains to main website observation, pseudorange and carrier observations are respectively such as step
Under：
In formula：Represent to have modified pseudorange and load of j-th of the frequency of satellite s after atmosphere errors in main website respectively
Ripple observation,Raw pseudo range and carrier observations of j-th of the frequency of satellite s in main website are represented respectively,Table
Show tropospheric delay between the station of the satellite s obtained by interpolation,Ionosphere between the station for the satellite s that expression is obtained by interpolation
Delay.
Step 7, user is utilized through the revised main website observation of step 5 and user's observation (by receiver user itself
Receive) composition double difference observation, second Kalman filter of the structure comprising user location parameter and fuzziness parameter, carry out
Baselines.
Baselines comprise the following steps in step 7：
Step 71, double difference observational equation is formed, pseudorange and carrier wave double difference observational equation are represented by：
In formula,Gps satellite double difference Pseudo-range Observations are represented,Represent gps satellite double difference station star away from,Gps satellite double difference pseudorange multipath effect is represented,Gps satellite double difference pseudorange observation noise is represented,Represent gps satellite double difference carrier observations, λGRepresent that GPS observations correspond to the wavelength of frequency,Represent GPS
Satellite double difference integer ambiguity,The gps satellite double difference carrier wave multipath effect in units of week is represented,
The gps satellite double difference carrier observations noise in units of week is represented,BDS satellite double difference Pseudo-range Observations are represented,Represent BDS satellite double differences station star away from,BDS satellite double difference pseudorange multipath effects are represented,Table
Show BDS satellite double difference pseudorange observation noises,Represent BDS satellite double difference carrier observations, λCRepresent BDS observations pair
The wavelength of frequency is answered,BDS satellite double difference integer ambiguities are represented,Represent that the BDS in units of week is defended
Star double difference carrier wave multipath effect,Represent the BDS satellite double difference carrier observations noises in units of week.Due to
Atmosphere errors correct in main website observation, therefore have ignored atmosphere errors in above-mentioned double difference observational equation.
Step 72, Kalman filter is built, is comprised the following steps：
It was located at for the i-th epoch, user has n GPS to regard satellite altogether regarding satellite and g BDS altogether with Star network, wherein n-th GPS
Satellite and the g BDS satellite are respectively the reference star of each system, combine all satellite L1 carrier waves and P1 pseudorange observation data, its
Filtering Model parameter matrix to be estimatedObservation matrixAnd design matrixIt is expressed as：
Wherein,
In formula,The parameter vector to be estimated of n+g+1 dimensions is represented, includes 3-dimensional location parameter vectorIt is whole with n+g-2 dimension double differences
All fuzziness parameter vectorsRepresent 2 (n+g-2) dimension double difference observation vectors, including pseudorange and carrier observations；Table
Show that 2 (n+g-2) × (n+g+1) ties up design matrix, whereinExpression gps satellite direction cosines (subscript o=1,
2 ..., n-1), ls,g,C,ps,g,C,qs,g,C(subscript s=1,2 ..., t-1) represents BDS satellite direction cosine,Represent with rice
For the gps satellite double difference carrier observations of unit,Gps satellite double difference Pseudo-range Observations are represented,Represent GPS
Satellite double difference station star away from,Represent BDS satellite double differences station star away from,Represent that the BDS satellites in units of rice are double
Poor carrier observations,Represent BDS satellite double difference Pseudo-range Observations.By above-mentioned parameter assignment and bring Kalman filtering into
Calculated in device by epoch, then extract float ambiguities vector and its variance-covariance battle array, utilize lambda algorithm search
Obtain fuzziness fixed solution.
For observation noise, different height cornerdown star uses determines power mode, three-dimensional coordinate parameter based on elevation of satellite
Using random walk, receiver observation noise obeys white Gaussian noise distribution, invariant parameter when fuzziness is defined as.
Step 72, after fixed fuzziness, user's three-dimensional coordinate fixed solution is solved using following formula：
Wherein,Respectively three-dimensional coordinate parameter vector and float ambiguities parameter vector,For fixed fuzziness
Coordinate parameters vector afterwards,To fix fuzziness parameter vector,Each parametric filtering is corresponded to respectively
Solve covariance matrix., can be by setting in the case of medium-long baselines of the extension station number less than 2 in the foundation of Kalman filter model
Ji Kuan lanes, narrow lane Filtering Model, take tropospheric delay and ionosphere into account, realize that the filtering of medium-long baselines resolves.
One of the most widely used technology in positioning field when technology of network RTK is high-precision real.This method is star-like
On network foundation, network resolving is carried out using double difference pattern, model is simple, and parameter is few.It is poor that network RTK is broadcast using broadcast mode
Divide correction, while take into account both-way communication, be truly realized the network RTK of broadcast mode.Support flies from ground installation, aviation
The equipment such as machine, satellite carry out differential data broadcast.In terms of atmosphere errors processing, rover station effect has been given full play to so that stream
Dynamic station can use the algorithm more optimized.In terms of Baselines, network RTK and traditional RTK patterns are taken into account, it is ensured that center
Software is resolved in the case where not completing netinit, rover station carries out Baseline estimation using main website raw observation.This
Invention had both met general network RTK user, took into account special dimension user again, can not such as expose the military field of user coordinates, and
And user capacity is unrestricted.Under broadcast mode, differential data can both be broadcast by ground installation, also can by space shuttle or
Satellite is broadcast.The shortcomings that in the absence of present in VRS technologies, FKP technologies, MAC technologies.
It is described above, it is only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, and is appointed
What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion or replacement expected, should all cover
Within the scope of the present invention, therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (8)
1. the BDS/GPS broadcast type network RTK algorithms based on Star Network, it is characterised in that including step in detail below：
Step 1, benchmark station coordinates is obtained from database, Delaunay triangulation network is generated using Delaunay Triangulation algorithm,
The controllable region-wide Star Network being made up of several Star network members is generated on the basis of the triangulation network, wherein, Mei Gexing
Type network element is made up of a main website and some corresponding extension stations；
Step 2, base station data are obtained in real time, and double difference observation, structure are formed by unit of the baseline in Delaunay triangulation network
The first Kalman filter is built, baseline double difference fuzziness and Zenith tropospheric wet stack emission ZTD is estimated in real time, then generates every base
The baseline double difference atmosphere errors of line；
Step 3, the baseline double difference atmosphere errors that step 2 generates are assigned to corresponding star-like network element baseline, using star-like network element to be single
The unified reference star of member, generate star-like every baseline of network element and regard single poor atmosphere errors between satellite station altogether；
Step 4, it is single poor atmosphere errors regarding satellite station altogether to every baseline of star-like network element, all using star-like network element as unit
Benchmark station coordinates and main website observation are encoded, and the data after coding are broadcasted using udp protocol or using both-way communication
Broadcast, wherein, udp protocol enters step 5 after broadcasting all data；During using both-way communication, uploaded first by user general
Slightly positional information, then center software is according to where customer location only broadcasts user by Ntrip agreements or TCP/IP to user
The data of star-like network element, into step 6；
Step 5, user's real-time reception data and judge network element where its, itself is obtained according to the differential data interpolation of place network element
Single poor atmosphere errors between station between main website, and correct to main website observation, into step 7；
Step 6, user's real-time reception data, obtained according to the differential data interpolation of place network element single between itself station between main website
Poor atmosphere errors, and correct to main website observation, into step 7；
Step 7, user utilizes forms double difference observation, structure through step 5 or 6 revised main website observations with user's observation
The second Kalman filter comprising user location parameter and fuzziness parameter, carry out Baselines.
2. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
Step 1 is stated to comprise the following steps：
Step 11, the triangulation network is generated using Delaunay Triangulation algorithm；
Step 12, the whole selvage circle base station of the triangulation network and non-border level station are extracted, wherein, if what is be connected with certain base station is all
Angle sum in triangle using this base station as the interior angle on summit is more than given threshold, then the base station is non-border level
Stand, be otherwise border level station；
Step 13, Star network member set is initialized：Using all non-border level stations as main website, all base stations being attached thereto
As corresponding extension station；
Step 14, the base station set for having neither part nor lot in Star Network networking is found in border level station；
Step 15, the most base station of the base station number being attached thereto is chosen in the base station set for having neither part nor lot in networking as new
Main website, the base station being attached thereto updates Star Network set and has neither part nor lot in Star Network networking as corresponding extension station
Base station set；
Step 16, repeat step 15, until the base station number for having neither part nor lot in Star Network networking is 0.
3. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
State in step 2 and comprise the following steps：
Step 21, base station k receives the pseudorange and carrier observations signal of satellite s, then carrier wave is expressed as with pseudorange observation equation：
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In formula：Represent the carrier observations in units of week, j=on j-th of frequency of the satellite s that base station station k is received
1,2,Represent base station k to satellite s station star away from,Represent on j-th of frequency of the satellite s that base station k is received
Integer ambiguity, c represent the light velocity, dTkRepresent base station k receiver clock-offsets, dTsThe satellite clock correction of satellite s is represented,Represent
The tropospheric delay for the satellite s that base station k is received,Represent the 1st frequency upper ionized layer of satellite s that base station k is received
Delay,fjRepresent the frequency values on j-th of frequency of satellite system, f corresponding to satellite s1Represent corresponding to satellite s
Frequency values on the 1st frequency of satellite system, relsThe relativistic effect of satellite s is represented,Represent that base station k is received
Satellite s j-th of frequency on carrier wave multipath effect in units of rice,Represent on base station j-th of frequency of k with rice
For the receiver end carrier deviation of unit,The satellite end carrier deviation on j-th of frequency in units of rice in satellite s is represented,The carrier observations noise in units of rice on j-th of frequency of satellite s that base station k is received is represented,Represent base station k
Pseudo-range Observations on j-th of frequency of the satellite s received in units of rice,What expression base station k was received defends
Pseudorange multipath effect on j-th of frequency of star in units of rice,Represent base station j-th of frequency of k receive with rice
For the receiver end pseudorange biases of unit,Pseudorange biases of the satellite end in units of rice on j-th of frequency of satellite s are represented,
Represent the pseudorange observation noise in units of rice, λ on j-th of frequency of the satellite s that base station k is receivedjRepresent that satellite s are corresponding
J-th of frequency of satellite system wavelength；
Step 22, double difference observation is formed according to the carrier observations that step 21 obtains and Pseudo-range Observations, then base station k and base
Quasi- station y groups double difference carrier observations equation be respectively with double difference pseudorange observation equation：
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<mi>&Delta;&rho;</mi>
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<mi>y</mi>
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<mi>j</mi>
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<mi>I</mi>
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<mi>k</mi>
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<mi>j</mi>
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In formula, subscript r represents reference satellite,The double difference carrier observations of j-th of frequency are represented,Represent double difference
Stand star away from,The double difference integer ambiguity on j-th of frequency is represented,Double difference tropospheric delay is represented,Represent
Double difference ionosphere delay on first frequency,Represent the double difference carrier wave multipath in units of rice on j-th of frequency
Effect,The double difference carrier observations noise in units of rice on j-th of frequency is represented,Represent on j-th of frequency
Double difference Pseudo-range Observations,The double difference pseudorange multipath effect on j-th of frequency is represented,Represent j-th
Double difference pseudorange observation noise on frequency；
Step 23, the double difference observation formed according to step 22 is combined into the wide lane combination observation of double difference, resolves wide lane combination die
Paste degree：
Wide lane combinational fuzzy degree is resolved using MW combinations, then resolving equation is：
In formula： The wide lane combination observation of double difference is represented,Represent wide lane combinational fuzzy degree, λWLRepresent wide lane wavelength；
Use smooth round of more epoch to wide lane combinational fuzzy degree, specific formula is as follows：
In formula：The wide lane combinational fuzzy degree float-solution that i-th of epoch of observation resolve to obtain is represented, z represents observation
Epoch sum, round represent round operator；
Step 24, using without ionospheric combination, narrow lane wave filter is built, is isolated using wide lane combination is combined without ionospheric combination
Basic fuzzinessWithComprise the following steps：
Step 241, double difference is formed without ionospheric combination observation：
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In formula：Double difference is represented without ionospheric combination observation,Indicate no ionospheric combination fuzziness, λNL
=c/ (f1+f2)；
Step 242, the first Kalman filter is built：
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</mtd>
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<mrow>
<mi>E</mi>
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<mi>R</mi>
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</mfenced>
In formula, E () represents to seek mathematic expectaion, and Cov () represents to seek covariance,Represent respectively the i-th epoch and i-th-
The state vector of 1 epoch；Represent state-transition matrix；Dynamic noise vector is represented,Represent dynamic noise covariance
Matrix；The i-th epoch observation vector is represented,Represent design matrix,Represent the i-th epoch observation noise vector；It is expressed as
I epoch observation noise covariance matrixs,The i-th epoch state vector covariance battle array is represented,Represent state vector prediction association side
Poor battle array,The i-th epoch state vector variance-covariance battle array is represented,Represent gain matrix,Represent unit matrix；
It was located at for the i-th epoch, base station k and base station y has n GPS to regard satellite altogether with g BDS regarding satellite altogether, wherein, n-th
Gps satellite and the reference star that the g BDS satellite is each system, parameter to be estimated include double difference integer ambiguity day relative with baseline
Troposphere wet stack emission is pushed up, its Filtering Model parameter vector to be estimated, observation vector and design matrix are expressed as：
Wherein：
In formula：The state vector (parameter vector to be estimated) of n+g-1 dimensions is represented, includes 1 relative Zenith tropospheric wet stack emission ginseng
Number RZTD and n+g-2 dimension double difference integer ambiguity parameter vectors The double difference carrier observations vector of n+g-2 dimensions is represented,Expression GPS double difference carrier observations, o=1,2 ..., n-1,The narrow lane wavelength of GPS is represented,Represent GPS the 1st
The wavelength of frequency,GPS double differences are represented without ionospheric combination carrier observations,Represent GPS double differences station star away from,Gps satellite double difference tropospheric hydrostatic delay is represented,Represent the wide lane integer ambiguity of GPS double differences, f1 GRepresent
The frequency values of the 1st frequency of GPS,The frequency values of the 2nd frequency of GPS are represented,BDS double difference carrier observations are represented,
S=1,2 ..., g-1,The narrow lane wavelength of BDS is represented,The wavelength of first frequency of BDS is represented,Represent BDS double differences
Without ionospheric combination carrier observations,Represent BDS double differences station star away from,Represent BDS satellite double difference tropospheres
Dry delay,Represent the wide lane integer ambiguity of BDS double differences, f1 CThe frequency values of the 1st frequency of BDS are represented,Represent
The frequency values of the 2nd frequency of BDS,The troposphere mapping function of GPS system satellite o on base station k is represented,Table
Show the troposphere mapping function of GPS system reference satellite n on base station y,Represent BDS system-satellites s on base station k
Troposphere mapping function,The troposphere mapping function of BDS system reference satellites g on base station y is represented,Represent (n+g-
2) × (n+g-1) design matrix of dimension；
Step 243, according to step 242 establish the first Kalman filter be filtered, and resolve underlying carrier fuzziness to
Measure parameter；
Fuzziness parameter vector float-solution is extracted from wave filterCalculated with variance-covariance battle array using lambda
Method scans for, and obtains the 1st frequency double difference integer ambiguityWithFurther
Obtain the double difference integer ambiguity of the 2nd frequencyWith
Step 25, according to the result of step 24, baseline double difference atmosphere errors are generated：
In formula,WithGPS and BDS double difference tropospheric delays are represented respectively,WithRespectively
GPS and first frequency double difference carrier observations of BDS are represented,WithGPS and second frequency of BDS are represented respectively
Point double difference carrier observations,WithGPS and the 1st frequency double difference ionosphere delay of BDS are represented respectively.
4. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
State in step 3 and comprise the following steps：
Step 31, the main website of star-like network element and extension station composition baseline, find by same datum in the whole net baseline list of the triangulation network
Stand composition baseline, if two base directions on the contrary, if need carry out baseline commutation, be derived from each bar baseline double difference of star-like network element
Atmosphere errors；
Step 32, check whether each bar baseline reference star of star-like network element is consistent, if inconsistent, unify reference star and air is missed
Difference carries out reference star conversion；
Step 33, single poor atmosphere errors between star-like network element station are generated：Single poor atmosphere errors is 0 between regarding reference star station, then other are defended
Single poor atmosphere errors value is equal to double difference atmosphere errors between the station of star；
Step 34, the satellite that each bar baseline of star-like network element can regard altogether is extracted, it is single poor big between satellite station altogether to generate star-like network element
Gas error.
5. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
State step 5 and judge that the method for its place network element is：User is decoded to the data received and calculates user to each main website
Air line distance, the network element representated by the main website minimum using distance is as user place network element.
6. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
State in step 5 or 6 and single poor atmosphere errors between itself station between main website are obtained according to the differential data interpolation of place network element, and repair
Just to main website observation, comprise the following steps：
1., using linear insert method step carries out user's atmosphere errors interpolation, then single poor atmosphere errors between user and main website station
It is calculated as follows：
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<mtable>
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<mtd>
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<mi>m</mi>
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<mi>u</mi>
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<mi>m</mi>
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</mfenced>
In formula, subscript m represents main website, and u represents user, α1,α2,α3Represent troposphere interpolation coefficient, β1,β2Represent ionosphere interpolation
Coefficient, w represent extension station number,Single poor tropospheric delay, Δ x between the station of expression satellite sm,u,Δym,u,Δhm,uTable respectively
Show main website and the coordinate difference of user,Represent single poor ionosphere delay between standing；
Troposphere interpolation coefficient and ionosphere interpolation coefficient computational methods are as follows：
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<mi>&alpha;</mi>
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<mtd>
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In formula：Δxm,t,Δym,t,Δhm,tRepresent main website and extension station coordinate difference, t=1,2 ..., w；
Step 2., by the atmosphere errors value amendment that interpolation obtains to main website observation, with carrier observations distinguish as follows by pseudorange：
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<mi>P</mi>
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<mi>s</mi>
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<mi>m</mi>
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<mi>&Delta;I</mi>
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<mi>u</mi>
</mrow>
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<msubsup>
<mi>f</mi>
<mn>1</mn>
<mn>2</mn>
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<mo>/</mo>
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In formula：Represent that have modified pseudorange of j-th of the frequency of satellite s after atmosphere errors in main website sees with carrier wave respectively
Measured value,Raw pseudo range and carrier observations of j-th of the frequency of satellite s in main website are represented respectively,Represent logical
Tropospheric delay between the station for the satellite s that interpolation obtains is crossed,Ionosphere is prolonged between the station for the satellite s for representing to obtain by interpolation
Late.
7. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that institute
Double difference observation in step 7 is stated to be expressed as：
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<mi>&Delta;&rho;</mi>
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<mi>G</mi>
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<mi>&Delta;mul</mi>
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<mi>&Delta;mul</mi>
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<mo>,</mo>
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</mrow>
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<mi>G</mi>
</mrow>
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<mo>&dtri;</mo>
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<mi>&Delta;&epsiv;</mi>
<mrow>
<mi>m</mi>
<mo>,</mo>
<mi>u</mi>
<mo>,</mo>
<mi>p</mi>
</mrow>
<mrow>
<mi>s</mi>
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In formula,Gps satellite double difference Pseudo-range Observations are represented,Represent gps satellite double difference station star away from,Gps satellite double difference pseudorange multipath effect is represented,Gps satellite double difference pseudorange observation noise is represented,Represent gps satellite double difference carrier observations, λGRepresent that GPS observations correspond to the wavelength of frequency,Represent GPS
Satellite double difference integer ambiguity,The gps satellite double difference carrier wave multipath effect in units of week is represented,
The gps satellite double difference carrier observations noise in units of week is represented,BDS satellite double difference Pseudo-range Observations are represented,Represent BDS satellite double differences station star away from,BDS satellite double difference pseudorange multipath effects are represented,Table
Show BDS satellite double difference pseudorange observation noises,Represent BDS satellite double difference carrier observations, λCRepresent BDS observations pair
The wavelength of frequency is answered,BDS satellite double difference integer ambiguities are represented,Represent that the BDS in units of week is defended
Star double difference carrier wave multipath effect,Represent the BDS satellite double difference carrier observations noises in units of week.
8. the BDS/GPS broadcast type network RTK algorithms according to claim 1 based on Star Network, it is characterised in that step
Second Kalman filter structure is as follows in rapid 7：
It was located at for the i-th epoch, user has n GPS to regard satellite altogether regarding satellite and g BDS altogether with Star network, wherein n-th gps satellite
It is respectively the reference star of each system with the g BDS satellite, combines all satellite L1 carrier waves and P1 pseudorange observation data, it is filtered
Model parameter matrix to be estimatedObservation matrixAnd design matrixIt is expressed as：
Wherein,
In formula,The parameter vector to be estimated of n+g+1 dimensions is represented, includes 3-dimensional location parameter vectorDouble difference complete cycle mould is tieed up with n+g-2
Paste degree parameter vector Represent 2 (n+g-2) dimension double difference observation vectors, including pseudorange and carrier observations；Represent 2 (n+
G-2 design matrix, wherein l) × (n+g+1) are tieed upo,n,G,po,n,G,qo,n,GExpression gps satellite direction cosines (subscript o=1,2 ...,
N-1), ls,g,C,ps,g,C,qs,g,CExpression BDS satellite direction cosine, s=1,2 ..., t-1,Represent in units of rice
Gps satellite double difference carrier observations,Gps satellite double difference Pseudo-range Observations are represented,Represent gps satellite double difference
Stand star away from,Represent BDS satellite double differences station star away from,Represent that the BDS satellite double differences carrier wave in units of rice is seen
Measured value,Represent BDS satellite double difference Pseudo-range Observations；
By above-mentioned parameter assignment and bring into the second Kalman filter by epoch resolve, then extract float ambiguities vector with
Its variance-covariance battle array, fuzziness fixed solution can be obtained using lambda algorithm search；
After fixed fuzziness, user's three-dimensional coordinate fixed solution is solved using following formula：
Wherein,Respectively three-dimensional coordinate parameter vector and float ambiguities parameter vector,After fixed fuzziness
Coordinate parameters vector,To fix fuzziness parameter vector,Each parametric filtering solution association is corresponded to respectively
Variance matrix.
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